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<a href="fcl__collision__checker_8cc.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * fcl_collision_checker.cc</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Oct 5, 2018</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__collision__checker_8h.html">collision/solvers/fcl/fcl_collision_checker.h</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fcl__helpers_8h.html">collision/solvers/fcl/fcl_helpers.h</a>&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="time__variant__collision__object_8h.html">collision/time_variant_collision_object.h</a>&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span>solvers {</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="keyword">namespace </span>solverFCL {</div><div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a7031ed219463c7ce45f6dcb1652f9a4c">   15</a></span>&#160;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a7031ed219463c7ce45f6dcb1652f9a4c">FCLCollisionChecker::FCLCollisionChecker</a>(<a class="code" href="classcollision_1_1_i_collision_checker.html">ICollisionChecker</a> &amp;cc) : m_cc(cc) {</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  simulation_time_start_idx_ = simulation_time_end_idx_ = -1;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  simulation_dynamic_ = 0;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aed9981d09bd9d5871918a43fa46b387d">invalidateStaticObstaclesManager</a>();</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a05728517e6bead9a3cf3ca65df2e6870">invalidateParentMap</a>();</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  windowQueryDone = <span class="keyword">false</span>;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;}</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div><div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a05728517e6bead9a3cf3ca65df2e6870">   23</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a05728517e6bead9a3cf3ca65df2e6870">FCLCollisionChecker::invalidateParentMap</a>(<span class="keywordtype">void</span>) {</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  parent_map_valid = <span class="keyword">false</span>;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;}</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a118ace8a12ff598bb746b0ea07f31b88">   27</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a118ace8a12ff598bb746b0ea07f31b88">FCLCollisionChecker::setUpParentMap</a>(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <span class="keywordflow">if</span> (!parent_map_valid) {</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    parent_map.clear();</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    std::vector&lt;CollisionObjectConstPtr&gt; obst = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a45600abe57714dcc84d81b0128f32c87">m_cc</a>.<a class="code" href="classcollision_1_1_i_collision_checker.html#a137cfb52d18f6218178ee50e114c3575">getObstacles</a>();</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;obj : obst) {</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;      obj-&gt;addParentMap(parent_map);</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    }</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    parent_map_valid = <span class="keyword">true</span>;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  }</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;}</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a40d1b64cd06786b2c828e995937cddae">   39</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a40d1b64cd06786b2c828e995937cddae">FCLCollisionChecker::addCollisionObject</a>(<a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co) {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *obj_entity;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">FCL_COLLISION_ENTITY_TYPE</a> enttype =</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a976460fe4920622d95f89d477c8f4ad8">get_object_fcl_entity_type</a>(co, obj_entity);</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="comment">// const TimeVariantCollisionObject* tvobj;</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a05728517e6bead9a3cf3ca65df2e6870">invalidateParentMap</a>();</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aed9981d09bd9d5871918a43fa46b387d">invalidateStaticObstaclesManager</a>();</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordflow">switch</span> (enttype) {</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordflow">case</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">COLLISION_ENTITY_TYPE_FCL_OBJECT</a>:</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aa677f101d44d78cddb730bd10b94fbab">addCollisionObject_fcl</a>(static_cast&lt;const FCLCollisionObject *&gt;(obj_entity));</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordflow">break</span>;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordflow">case</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7">COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP</a>:</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aa677f101d44d78cddb730bd10b94fbab">addCollisionObject_fcl</a>(</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        static_cast&lt;const FCLCollisionObjectGroup *&gt;(obj_entity));</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordflow">break</span>;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keywordflow">case</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a060426b2a428f4a72e0c2932396c6525">FCL_COLLISION_ENTITY_TYPE::FCL_COLLISION_ENTITY_TYPE_TVOBJECT</a>:</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aa677f101d44d78cddb730bd10b94fbab">addCollisionObject_fcl</a>(</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        static_cast&lt;const TimeVariantCollisionObject *&gt;(co.get()));</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordflow">break</span>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">throw</span>;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordflow">return</span>;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordflow">break</span>;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  }</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;}</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aaa3c5acecc72c87963713f5a0c4f3bd9">   74</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aa677f101d44d78cddb730bd10b94fbab">FCLCollisionChecker::addCollisionObject_fcl</a>(</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *co) {</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="comment">// TODO: thread-safety: store all object instances locally?</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keywordflow">if</span> (!co)</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  std::vector&lt;fcl::CollisionObject&lt;FCL_PRECISION&gt; *&gt; vect;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group.html">IFCLCollisionObjectGroup</a> *parent_interface = co-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a9939d20e6c617455ea42c35b1e2d8085">getParentInterface</a>();</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordflow">if</span> (!parent_interface)</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  parent_interface-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group.html#af4b7eae4f1cacf9ef0eed1b5f3f6bdba">getCollisionObjects</a>(vect);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  static_obstacles_.registerObjects(vect);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;}</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aa677f101d44d78cddb730bd10b94fbab">   89</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aa677f101d44d78cddb730bd10b94fbab">FCLCollisionChecker::addCollisionObject_fcl</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *co) {</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="comment">// TODO: thread-safety: store all object instances locally?</span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordflow">if</span> (!co)</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  std::shared_ptr&lt;fcl::CollisionObject&lt;FCL_PRECISION&gt;&gt; col_obj =</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      co-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">getCollisionObject_fcl</a>();</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  static_obstacles_.registerObject(col_obj.get());</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;}</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad414f383203ad4f899a9b3bcc46530fa">  100</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aa677f101d44d78cddb730bd10b94fbab">FCLCollisionChecker::addCollisionObject_fcl</a>(</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> *tvobj) {</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="comment">// collision_objects_.push_back(tvobj-&gt;shared_from_this());</span></div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  tv_objects_.push_back(tvobj-&gt;shared_from_this());</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keywordflow">if</span> (!simulation_dynamic_) {</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    simulation_time_start_idx_ = tvobj-&gt;<a class="code" href="classcollision_1_1_time_variant_collision_object.html#ae0db5a464e1ce21aa1131955e1bebc8e">time_start_idx</a>();</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    simulation_time_end_idx_ = tvobj-&gt;<a class="code" href="classcollision_1_1_time_variant_collision_object.html#ae14bb4f90bffb5804b389f27300c1c4f">time_end_idx</a>();</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    simulation_dynamic_ = 1;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordflow">if</span> (simulation_time_start_idx_ &gt; tvobj-&gt;<a class="code" href="classcollision_1_1_time_variant_collision_object.html#ae0db5a464e1ce21aa1131955e1bebc8e">time_start_idx</a>())</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      simulation_time_start_idx_ = tvobj-&gt;<a class="code" href="classcollision_1_1_time_variant_collision_object.html#ae0db5a464e1ce21aa1131955e1bebc8e">time_start_idx</a>();</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keywordflow">if</span> (simulation_time_end_idx_ &lt; tvobj-&gt;time_end_idx())</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      simulation_time_end_idx_ = tvobj-&gt;<a class="code" href="classcollision_1_1_time_variant_collision_object.html#ae14bb4f90bffb5804b389f27300c1c4f">time_end_idx</a>();</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  }</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="comment">// TODO: thread-safety: store all object instances locally?</span></div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;}</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aed9981d09bd9d5871918a43fa46b387d">  119</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aed9981d09bd9d5871918a43fa46b387d">FCLCollisionChecker::invalidateStaticObstaclesManager</a>() {</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  static_obstacles_manager_valid = <span class="keyword">false</span>;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;}</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a620d2d96bfb91c7eb67d175fecc8096f">  123</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a620d2d96bfb91c7eb67d175fecc8096f">FCLCollisionChecker::setUpStaticObstaclesManager</a>()<span class="keyword"> const </span>{</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keywordflow">if</span> (!static_obstacles_manager_valid) {</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    static_obstacles_manager_valid = <span class="keyword">true</span>;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    static_obstacles_.setup();</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  }</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;}</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ab8f47f4ae8609204c03694d362dab780">  130</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ab8f47f4ae8609204c03694d362dab780">FCLCollisionChecker::set_up_dynamic_obstacles</a>(</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordtype">int</span> simulation_cur_time_idx_)<span class="keyword"> const </span>{</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keywordflow">if</span> (!simulation_dynamic_ ||</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      simulation_cur_time_idx_ &lt; simulation_time_start_idx_ ||</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      simulation_cur_time_idx_ &gt; simulation_time_end_idx_)</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  dynamic_obstacles_.clear();</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;c : tv_objects_) {</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> *tvobj =</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        static_cast&lt;const TimeVariantCollisionObject *&gt;(c.get());</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keywordflow">if</span> (!tvobj) {</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keywordflow">throw</span>;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    }</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> obj =</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        tvobj-&gt;<a class="code" href="classcollision_1_1_time_variant_collision_object.html#a2262622fbdf0596e4faba5fe344f2358">getObstacleAtTime</a>(simulation_cur_time_idx_);</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keywordflow">if</span> (obj) {</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *obj_entity;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">FCL_COLLISION_ENTITY_TYPE</a> enttype =</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a976460fe4920622d95f89d477c8f4ad8">get_object_fcl_entity_type</a>(obj, obj_entity);</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keywordflow">if</span> (enttype == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">COLLISION_ENTITY_TYPE_FCL_OBJECT</a>) {</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; 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 <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;}</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;</div><div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a06d04daf90ad23bbc52d215bf8cb574b">  168</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a06d04daf90ad23bbc52d215bf8cb574b">FCLCollisionChecker::register_dynamic_obstacle</a>(</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *obj)<span class="keyword"> const </span>{</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <span class="keywordflow">if</span> (!obj)</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  std::vector&lt;fcl::CollisionObject&lt;FCL_PRECISION&gt; *&gt; vect;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group.html">IFCLCollisionObjectGroup</a> *parent_interface = obj-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a9939d20e6c617455ea42c35b1e2d8085">getParentInterface</a>();</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="keywordflow">if</span> (!parent_interface)</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  parent_interface-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group.html#af4b7eae4f1cacf9ef0eed1b5f3f6bdba">getCollisionObjects</a>(vect);</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  dynamic_obstacles_.registerObjects(vect);</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;}</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;</div><div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a814a20b2d547f1d011bb27790b61889b">  182</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a06d04daf90ad23bbc52d215bf8cb574b">FCLCollisionChecker::register_dynamic_obstacle</a>(</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *obj)<span class="keyword"> const </span>{</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keywordflow">if</span> (!obj)</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordflow">return</span> -1;</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  dynamic_obstacles_.registerObject(obj-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">getCollisionObject_fcl</a>().get());</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;}</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;</div><div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a5088bcb0c1f882a9bbba06b3f186e2e0">  190</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a5088bcb0c1f882a9bbba06b3f186e2e0">FCLCollisionChecker::collideHelper</a>(</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> co, <span class="keywordtype">int</span> *collision_time,</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    std::vector&lt;CollisionObjectConstPtr&gt; *obstacles, <span class="keywordtype">int</span> max_obstacles,</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keywordtype">bool</span> ungroup_shape_groups, <span class="keywordtype">bool</span> ungroup_TV_obstacles)<span class="keyword"> const </span>{</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *fclco;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *fclgr;</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="keyword">const</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> *tvobj;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a620d2d96bfb91c7eb67d175fecc8096f">setUpStaticObstaclesManager</a>();</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *obj_entity;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">FCL_COLLISION_ENTITY_TYPE</a> enttype =</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a976460fe4920622d95f89d477c8f4ad8">get_object_fcl_entity_type</a>(co, obj_entity);</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  <span class="keywordtype">int</span> col_time = -1;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  <span class="keywordtype">bool</span> res = <span class="keyword">false</span>;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <span class="keywordflow">switch</span> (enttype) {</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="keywordflow">case</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">COLLISION_ENTITY_TYPE_FCL_OBJECT</a>:</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    fclco = static_cast&lt;const FCLCollisionObject *&gt;(obj_entity);</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keywordflow">if</span> (obstacles) {</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> reqData(</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          *obstacles, this-&gt;parent_map, max_obstacles);</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      reqData.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#abe827612e28013062172e3859cd88dac">setUngroupShapeGroups</a>(ungroup_shape_groups);</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      reqData.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a57cb09c6843bfa73c08e971beb8e4997">setUngroupTvObstacles</a>(ungroup_TV_obstacles);</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      res = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">collide_fcl</a>(fclco, col_time, reqData);</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      res = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">collide_fcl</a>(fclco, col_time);</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    }</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keywordflow">if</span> (collision_time) {</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      *collision_time = col_time;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    }</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <span class="keywordflow">break</span>;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <span class="keywordflow">case</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7">COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP</a>:</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    fclgr = static_cast&lt;const FCLCollisionObjectGroup *&gt;(obj_entity);</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="keywordflow">if</span> (obstacles) {</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> reqData(</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;          *obstacles, this-&gt;parent_map, max_obstacles);</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      reqData.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#abe827612e28013062172e3859cd88dac">setUngroupShapeGroups</a>(ungroup_shape_groups);</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      reqData.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a57cb09c6843bfa73c08e971beb8e4997">setUngroupTvObstacles</a>(ungroup_TV_obstacles);</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      res = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">collide_fcl</a>(fclgr, col_time, reqData);</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      res = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">collide_fcl</a>(fclgr, col_time);</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    }</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <span class="keywordflow">if</span> (collision_time) {</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      *collision_time = col_time;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    }</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="keywordflow">break</span>;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keywordflow">case</span> <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a060426b2a428f4a72e0c2932396c6525">FCL_COLLISION_ENTITY_TYPE_TVOBJECT</a>:</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    tvobj = static_cast&lt;const TimeVariantCollisionObject *&gt;(co.get());</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="keywordflow">if</span> (obstacles) {</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> reqData(</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;          *obstacles, this-&gt;parent_map, max_obstacles);</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      reqData.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#abe827612e28013062172e3859cd88dac">setUngroupShapeGroups</a>(ungroup_shape_groups);</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      reqData.<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a57cb09c6843bfa73c08e971beb8e4997">setUngroupTvObstacles</a>(ungroup_TV_obstacles);</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      res = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">collide_fcl</a>(tvobj, col_time, reqData);</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      res = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">collide_fcl</a>(tvobj, col_time);</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    }</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="keywordflow">if</span> (collision_time) {</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      *collision_time = col_time;</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    }</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <span class="keywordflow">break</span>;</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  <span class="keywordflow">default</span>:</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="keywordflow">throw</span>;</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keywordflow">break</span>;</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  }</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;}</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;<span class="comment">// Returns a CollisionChecker of certain kind with all static objects within the</span></div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;<span class="comment">// window and all time-variant obstacles. Ungroups all shape groups. The</span></div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="comment">// function is not thread-safe</span></div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;</div><div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ae35b8d368c6529a86d073ab7d7c45f20">  268</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ae35b8d368c6529a86d073ab7d7c45f20">FCLCollisionChecker::windowQuery_helper</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_rectangle_a_a_b_b.html">RectangleAABB</a> &amp;aabb,</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;                                             <a class="code" href="classcollision_1_1_i_collision_checker.html">ICollisionChecker</a> &amp;ret)<span class="keyword"> const </span>{</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; 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 }</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="comment">// add all static obstacles within the window</span></div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *fcl_obj =</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      fclco-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">getCollisionObject_fcl</a>().get();</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  <span class="keywordflow">if</span> (!windowQueryDone) {</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    windowQueryRes.reserve(<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a45600abe57714dcc84d81b0128f32c87">m_cc</a>.<a class="code" href="classcollision_1_1_i_collision_checker.html#adb32ac2d6218930ac7a1cb6538b5a979">numberOfObstacles</a>());</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  }</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  windowQueryRes.clear();</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html">CollisionRequestDataWindowQuery</a> reqData(fcl_obj, windowQueryRes,</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                                          this-&gt;parent_map);</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a620d2d96bfb91c7eb67d175fecc8096f">setUpStaticObstaclesManager</a>();</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  fcl::CollisionRequest&lt;FCL_PRECISION&gt; collisionRequest(</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      1, <span class="keyword">false</span>, <a class="code" href="fcl__decl_8h.html#ac452cb3fe2aa89056f0a0cf62c73e1bf">FCL_SOLVER_TYPE</a>); <span class="comment">// Disable finding of contact points</span></div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  collisionRequest.enable_cost = <span class="keyword">false</span>;</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_window_query.html">CollisionDataWindowQuery&lt;FCL_PRECISION&gt;</a> self_data_static_obstacles(reqData);</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  self_data_static_obstacles.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a3998dd02d15239f4e3b6efc166f6f91d">request</a> = collisionRequest;</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  static_obstacles_.collide(fcl_obj, &amp;self_data_static_obstacles,</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;                            defaultCollisionFunctionWindowQuery&lt;FCL_PRECISION&gt;);</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;x : windowQueryRes) {</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    ret.<a class="code" href="classcollision_1_1_i_collision_checker.html#a0a840e101970529845077069aa0a33ba">addCollisionObject</a>(x-&gt;shared_from_this());</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  }</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  <span class="comment">// add all TV obstacles</span></div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">auto</span> &amp;c : tv_objects_) {</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    ret.<a class="code" href="classcollision_1_1_i_collision_checker.html#a0a840e101970529845077069aa0a33ba">addCollisionObject</a>(c);</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  }</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  windowQueryDone = <span class="keyword">true</span>;</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;}</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;</div><div class="line"><a name="l00314"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">  314</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">FCLCollisionChecker::collide_fcl</a>(</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *col_obj_ptr, <span class="keywordtype">int</span> &amp;time_of_collision,</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> &amp;reqData)<span class="keyword"> const </span>{</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  <span class="keywordflow">if</span> (!col_obj_ptr) {</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    <span class="keywordflow">throw</span>;</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  }</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *col_obj =</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      col_obj_ptr-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">getCollisionObject_fcl</a>().get();</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  <span class="keywordflow">return</span> this-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a446ec1583c17706392b23fdfc1853fe8">collide_fcl_helper_simulate_static_subject</a>(</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      col_obj, time_of_collision,</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      CollisionRequestType::collisionRequestListOfObstacles, &amp;reqData);</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;}</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;</div><div class="line"><a name="l00328"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a1f8eb9924688736bf70cfdffa8d3c43c">  328</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">FCLCollisionChecker::collide_fcl</a>(</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *col_obj_group, <span class="keywordtype">int</span> &amp;time_of_collision,</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> &amp;reqData)<span class="keyword"> const </span>{</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  <span class="keywordflow">if</span> (!col_obj_group) {</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    <span class="keywordflow">throw</span>;</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;  }</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  fcl::BroadPhaseCollisionManager&lt;FCL_PRECISION&gt; *mngr;</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  col_obj_group-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">getManager_fcl</a>(mngr);</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  <span class="keywordflow">return</span> this-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a446ec1583c17706392b23fdfc1853fe8">collide_fcl_helper_simulate_static_subject</a>(</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      mngr, time_of_collision,</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      CollisionRequestType::collisionRequestListOfObstacles, &amp;reqData);</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;}</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;</div><div class="line"><a name="l00342"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a1614c4b99624131eea57818727274ab1">  342</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">FCLCollisionChecker::collide_fcl</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *col_obj_ptr,</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;                                      <span class="keywordtype">int</span> &amp;time_of_collision)<span class="keyword"> const </span>{</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  <span class="keywordflow">if</span> (!col_obj_ptr) {</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    <span class="keywordflow">throw</span>;</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  }</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;  <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *col_obj =</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      col_obj_ptr-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">getCollisionObject_fcl</a>().get();</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  <span class="keywordflow">return</span> this-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a446ec1583c17706392b23fdfc1853fe8">collide_fcl_helper_simulate_static_subject</a>(</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      col_obj, time_of_collision, CollisionRequestType::collisionRequestBoolean,</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      0);</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;}</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;</div><div class="line"><a name="l00355"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a50688f4a2e9b71cf113718cb64d92887">  355</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">FCLCollisionChecker::collide_fcl</a>(</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *col_obj_group,</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;    <span class="keywordtype">int</span> &amp;time_of_collision)<span class="keyword"> const </span>{</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  <span class="keywordflow">if</span> (!col_obj_group) {</div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;    <span class="keywordflow">throw</span>;</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  }</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  fcl::BroadPhaseCollisionManager&lt;FCL_PRECISION&gt; *mngr;</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  col_obj_group-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">getManager_fcl</a>(mngr);</div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  <span class="keywordflow">return</span> this-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a446ec1583c17706392b23fdfc1853fe8">collide_fcl_helper_simulate_static_subject</a>(</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      mngr, time_of_collision, CollisionRequestType::collisionRequestBoolean,</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      0);</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;}</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;</div><div class="line"><a name="l00369"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ac919fceee17044460d25d985b2322ca5">  369</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">FCLCollisionChecker::collide_fcl</a>(<span class="keyword">const</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> *tvobj,</div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;                                      <span class="keywordtype">int</span> &amp;time_of_collision)<span class="keyword"> const </span>{</div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  <span class="keywordflow">if</span> (!tvobj) {</div><div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    <span class="keywordflow">throw</span>;</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  }</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a5f3a7a51c36c0772876379ff2cf778af">collide_fcl_helper_sim_TV_subject</a>(</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      *tvobj, time_of_collision, CollisionRequestType::collisionRequestBoolean,</div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;      0);</div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;}</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;</div><div class="line"><a name="l00381"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a9b76626a62abdf3cf45dba63f254adf6">  381</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">FCLCollisionChecker::collide_fcl</a>(</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> *tvobj, <span class="keywordtype">int</span> &amp;time_of_collision,</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html">CollisionRequestDataMultipleObstacles</a> &amp;reqData)<span class="keyword"> const </span>{</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  <span class="keywordflow">if</span> (!tvobj) {</div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    <span class="keywordflow">throw</span>;</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  }</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  <span class="keywordflow">return</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a5f3a7a51c36c0772876379ff2cf778af">collide_fcl_helper_sim_TV_subject</a>(</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;      *tvobj, time_of_collision,</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      CollisionRequestType::collisionRequestListOfObstacles, &amp;reqData);</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;}</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;</div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;<span class="comment">// simulate collision with a TV obstacle</span></div><div class="line"><a name="l00394"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a5f3a7a51c36c0772876379ff2cf778af">  394</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a5f3a7a51c36c0772876379ff2cf778af">FCLCollisionChecker::collide_fcl_helper_sim_TV_subject</a>(</div><div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    <span class="keyword">const</span> <a class="code" href="classcollision_1_1_time_variant_collision_object.html">TimeVariantCollisionObject</a> &amp;tvobj, <span class="keywordtype">int</span> &amp;time_of_collision,</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1f">CollisionRequestType</a> reqType, <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data.html">CollisionRequestData</a> *reqData)<span class="keyword"> const </span>{</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  <span class="keywordtype">bool</span> result = <span class="keyword">false</span>;</div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  <span class="keywordtype">int</span> sim_start_idx = 0;</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  <span class="keywordtype">int</span> sim_end_idx = 0;</div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;  <span class="comment">//</span></div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  <span class="keywordflow">if</span> (simulation_dynamic_) {</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    sim_start_idx =</div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;        std::min(simulation_time_start_idx_, tvobj.<a class="code" href="classcollision_1_1_time_variant_collision_object.html#ae0db5a464e1ce21aa1131955e1bebc8e">time_start_idx</a>());</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    sim_end_idx = std::max(simulation_time_end_idx_, tvobj.<a class="code" href="classcollision_1_1_time_variant_collision_object.html#ae14bb4f90bffb5804b389f27300c1c4f">time_end_idx</a>());</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    sim_start_idx = tvobj.<a class="code" href="classcollision_1_1_time_variant_collision_object.html#ae0db5a464e1ce21aa1131955e1bebc8e">time_start_idx</a>();</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    sim_end_idx = tvobj.<a class="code" href="classcollision_1_1_time_variant_collision_object.html#ae14bb4f90bffb5804b389f27300c1c4f">time_end_idx</a>();</div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;  }</div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  <span class="keywordtype">bool</span> cur_res = <span class="keyword">false</span>;</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  <span class="keywordtype">int</span> cur_collision_time = -1;</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;</div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> sim_cur_idx = sim_start_idx; sim_cur_idx &lt;= sim_end_idx;</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;       sim_cur_idx++) {</div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    <a class="code" href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">CollisionObjectConstPtr</a> col_obj_ptr = tvobj.<a class="code" href="classcollision_1_1_time_variant_collision_object.html#a2262622fbdf0596e4faba5fe344f2358">getObstacleAtTime</a>(sim_cur_idx);</div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    <span class="keywordflow">if</span> (col_obj_ptr) {</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">SolverEntity_FCL</a> *obj_entity;</div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;      <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">FCL_COLLISION_ENTITY_TYPE</a> colent_type =</div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;          <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a976460fe4920622d95f89d477c8f4ad8">get_object_fcl_entity_type</a>(col_obj_ptr, obj_entity);</div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;      <span class="keywordflow">if</span> (colent_type == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">COLLISION_ENTITY_TYPE_FCL_OBJECT</a>) {</div><div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;        <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">FCLCollisionObject</a> *fclco =</div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;            static_cast&lt;const FCLCollisionObject *&gt;(obj_entity);</div><div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *col_obj = 0;</div><div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;</div><div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        col_obj = (fclco)-&gt;getCollisionObject_fcl().get();</div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        <span class="keywordflow">if</span> (col_obj) {</div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;          <span class="keywordflow">if</span> (<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a8bbce00ec170f5aa3bcbc66bed84a5c5">collide_fcl_helper_static_obstaclesEx</a>(</div><div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;                  col_obj, result, reqType,</div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;                  reqData)) { <span class="comment">// the child function signalled early stopping</span></div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;            <span class="keywordflow">if</span> (result) {</div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;              time_of_collision = sim_cur_idx;</div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;              <span class="keywordflow">return</span> result;</div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;            }</div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;          }</div><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;          <span class="keywordflow">if</span> (result) { <span class="comment">// if it is a first collision, remember time of</span></div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;                        <span class="comment">// collision</span></div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;            <span class="keywordflow">if</span> (cur_collision_time == -1) {</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;              cur_collision_time = sim_cur_idx;</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;            }</div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;            cur_res = <span class="keyword">true</span>;</div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;          }</div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;</div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;          <span class="keywordflow">if</span> (<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a25052a90e2c8b9071d92a2be814ade7d">collide_fcl_helper_dynamic_obstaclesEx</a>(</div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;                  col_obj, sim_cur_idx, result, reqType,</div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;                  reqData)) { <span class="comment">// the child function signalled early stopping</span></div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;            <span class="keywordflow">if</span> (result) {</div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;              time_of_collision = sim_cur_idx;</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;              <span class="keywordflow">return</span> result;</div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;            }</div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;          }</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;          <span class="keywordflow">if</span> (result) {</div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;            <span class="keywordflow">if</span> (cur_collision_time == -1) {</div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;              cur_collision_time = sim_cur_idx;</div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;            }</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;            cur_res = <span class="keyword">true</span>;</div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;          }</div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;        }</div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;</div><div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;      } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (colent_type == <a class="code" href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7">COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP</a>) {</div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;</div><div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;        <span class="keyword">const</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">FCLCollisionObjectGroup</a> *fclco_gr =</div><div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;            static_cast&lt;const FCLCollisionObjectGroup *&gt;(obj_entity);</div><div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;</div><div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;        fcl::BroadPhaseCollisionManager&lt;FCL_PRECISION&gt; *mngr = 0;</div><div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;</div><div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;        fclco_gr-&gt;<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">getManager_fcl</a>(mngr);</div><div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;        <span class="keywordflow">if</span> (mngr) {</div><div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;          <span class="keywordflow">if</span> (<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a8bbce00ec170f5aa3bcbc66bed84a5c5">collide_fcl_helper_static_obstaclesEx</a>(mngr, result, reqType,</div><div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;                                                    reqData)) {</div><div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;            <span class="keywordflow">if</span> (result) {</div><div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;              time_of_collision = sim_cur_idx;</div><div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;              <span class="keywordflow">return</span> result;</div><div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;            }</div><div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;          }</div><div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;          <span class="keywordflow">if</span> (result) {</div><div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;            <span class="keywordflow">if</span> (cur_collision_time == -1) {</div><div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;              cur_collision_time = sim_cur_idx;</div><div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;            }</div><div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;            cur_res = <span class="keyword">true</span>;</div><div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;          }</div><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;          <span class="keywordflow">if</span> (<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a25052a90e2c8b9071d92a2be814ade7d">collide_fcl_helper_dynamic_obstaclesEx</a>(mngr, sim_cur_idx, result,</div><div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;                                                     reqType, reqData)) {</div><div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;            <span class="keywordflow">if</span> (result) {</div><div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;              time_of_collision = sim_cur_idx;</div><div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;              <span class="keywordflow">return</span> result;</div><div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;            }</div><div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;          }</div><div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;          <span class="keywordflow">if</span> (result) {</div><div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;            <span class="keywordflow">if</span> (cur_collision_time == -1) {</div><div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160; 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   }</div><div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  }</div><div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;  time_of_collision = cur_collision_time;</div><div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;  <span class="keywordflow">return</span> cur_res;</div><div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;}</div><div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;</div><div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div><div class="line"><a name="l00506"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a446ec1583c17706392b23fdfc1853fe8">  506</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a446ec1583c17706392b23fdfc1853fe8">FCLCollisionChecker::collide_fcl_helper_simulate_static_subject</a>(</div><div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;    T col_entity, <span class="keywordtype">int</span> &amp;time_of_collision, <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1f">CollisionRequestType</a> reqType,</div><div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data.html">CollisionRequestData</a> *reqData)<span class="keyword"> const </span>{</div><div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;  <span class="keywordtype">bool</span> cur_result = <span class="keyword">false</span>;</div><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;  <span class="keywordtype">bool</span> result = <span class="keyword">false</span>;</div><div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;  <span class="keywordtype">int</span> cur_time_of_coll = -1;</div><div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a8bbce00ec170f5aa3bcbc66bed84a5c5">collide_fcl_helper_static_obstaclesEx</a>(col_entity, result, reqType,</div><div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;                                            reqData)) {</div><div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;    <span class="keywordflow">if</span> (result) {</div><div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      time_of_collision = 0;</div><div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;      <span class="keywordflow">return</span> result;</div><div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;    }</div><div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;  }</div><div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;  <span class="keywordflow">if</span> (result) {</div><div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;    <span class="keywordflow">if</span> (cur_time_of_coll == -1)</div><div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;      cur_time_of_coll = 0;</div><div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;    cur_result = <span class="keyword">true</span>;</div><div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;  }</div><div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;</div><div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;  <span class="keywordflow">if</span> (simulation_dynamic_) {</div><div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> cur_time_idx = simulation_time_start_idx_;</div><div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;         cur_time_idx &lt;= simulation_time_end_idx_; cur_time_idx++) {</div><div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;      <span class="keywordflow">if</span> ((<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a25052a90e2c8b9071d92a2be814ade7d">collide_fcl_helper_dynamic_obstaclesEx</a>(col_entity, cur_time_idx,</div><div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;                                                  result, reqType, reqData))) {</div><div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;        <span class="keywordflow">if</span> (result) {</div><div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;          time_of_collision = cur_time_idx;</div><div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;          <span class="keywordflow">return</span> result;</div><div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;        }</div><div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;      }</div><div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;      <span class="keywordflow">if</span> (result) {</div><div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;        <span class="keywordflow">if</span> (cur_time_of_coll == -1)</div><div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;          cur_time_of_coll = 0;</div><div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;        cur_result = <span class="keyword">true</span>;</div><div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;      }</div><div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;    }</div><div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;  }</div><div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;  time_of_collision = cur_time_of_coll;</div><div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;</div><div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;  <span class="keywordflow">return</span> cur_result;</div><div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;}</div><div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;</div><div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div><div class="line"><a name="l00548"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a25052a90e2c8b9071d92a2be814ade7d">  548</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a25052a90e2c8b9071d92a2be814ade7d">FCLCollisionChecker::collide_fcl_helper_dynamic_obstaclesEx</a>(</div><div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;    T col_entity, <span class="keywordtype">int</span> sim_cur_time_idx, <span class="keywordtype">bool</span> &amp;result,</div><div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1f">CollisionRequestType</a> reqType, <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data.html">CollisionRequestData</a> *reqData)<span class="keyword"> const </span>{</div><div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;</div><div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;  <span class="comment">// TODO: test parent map feature</span></div><div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;</div><div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;  <span class="keywordflow">if</span> (reqType == CollisionRequestType::collisionRequestListOfObstacles) {</div><div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a118ace8a12ff598bb746b0ea07f31b88">setUpParentMap</a>();</div><div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;    result = <span class="keyword">false</span>;</div><div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;    <span class="keywordflow">if</span> (!reqData) {</div><div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;      <span class="keywordflow">throw</span>;</div><div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;    }</div><div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;    <span class="keywordflow">if</span> (!(static_cast&lt;CollisionRequestDataMultipleObstacles *&gt;(reqData)</div><div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;              -&gt;getMaxObstacles())) {</div><div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;    }</div><div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ab8f47f4ae8609204c03694d362dab780">set_up_dynamic_obstacles</a>(sim_cur_time_idx)) {</div><div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;</div><div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;      static_cast&lt;CollisionRequestDataMultipleObstacles *&gt;(reqData)</div><div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;          -&gt;setSubjectEntitySize(col_entity);</div><div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;      static_cast&lt;CollisionRequestDataMultipleObstacles *&gt;(reqData)</div><div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;          -&gt;setTargetMngrSize(dynamic_obstacles_.size());</div><div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;      static_cast&lt;CollisionRequestDataMultipleObstacles *&gt;(reqData)</div><div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;          -&gt;setObstacleCallbackOrder();</div><div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;      <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html">CollisionDataListOfObstacles&lt;FCL_PRECISION&gt;</a> self_data_dyn_obstacles(</div><div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;          *(static_cast&lt;CollisionRequestDataMultipleObstacles *&gt;(reqData)));</div><div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;      fcl::CollisionRequest&lt;FCL_PRECISION&gt; collisionRequest(</div><div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;          1, <span class="keyword">false</span>, <a class="code" href="fcl__decl_8h.html#ac452cb3fe2aa89056f0a0cf62c73e1bf">FCL_SOLVER_TYPE</a>); <span class="comment">// Disable finding of contact points</span></div><div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;      collisionRequest.enable_cost = <span class="keyword">false</span>;</div><div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;      self_data_dyn_obstacles.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a3998dd02d15239f4e3b6efc166f6f91d">request</a> = collisionRequest;</div><div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;      dynamic_obstacles_.collide(</div><div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;          col_entity, &amp;self_data_dyn_obstacles,</div><div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;          defaultCollisionFunctionListOfObstacles&lt;FCL_PRECISION&gt;);</div><div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;      result = self_data_dyn_obstacles.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_ex.html#a638544565ffaf6948023a783d34c93ae">get_result</a>();</div><div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;      <span class="keywordflow">return</span> self_data_dyn_obstacles.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html#aa72770203bd5bcdeffee53841a5f2bde">self_reqData</a>.getAllObstAdded();</div><div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;    }</div><div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div><div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;</div><div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (reqType == CollisionRequestType::collisionRequestBoolean) {</div><div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;    result = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a12658171ee505d64dc3be58e0cfa6108">collide_fcl_helper_dynamic_obstacles</a>(col_entity, sim_cur_time_idx);</div><div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;    <span class="keywordflow">throw</span>;</div><div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  }</div><div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;}</div><div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;</div><div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div><div class="line"><a name="l00597"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a12658171ee505d64dc3be58e0cfa6108">  597</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a12658171ee505d64dc3be58e0cfa6108">FCLCollisionChecker::collide_fcl_helper_dynamic_obstacles</a>(</div><div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;    T col_entity, <span class="keywordtype">int</span> sim_cur_time_idx)<span class="keyword"> const </span>{</div><div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;  <span class="keywordtype">bool</span> result = <span class="keyword">false</span>;</div><div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;  fcl::CollisionRequest&lt;FCL_PRECISION&gt; collisionRequest(</div><div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;      1, <span class="keyword">false</span>, <a class="code" href="fcl__decl_8h.html#ac452cb3fe2aa89056f0a0cf62c73e1bf">FCL_SOLVER_TYPE</a>); <span class="comment">// Disable finding of contact points</span></div><div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  collisionRequest.enable_cost = <span class="keyword">false</span>;</div><div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ab8f47f4ae8609204c03694d362dab780">set_up_dynamic_obstacles</a>(sim_cur_time_idx)) {</div><div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;    <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html">CollisionData&lt;FCL_PRECISION&gt;</a> self_data_dyn_obstacles;</div><div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;    self_data_dyn_obstacles.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a3998dd02d15239f4e3b6efc166f6f91d">request</a> = collisionRequest;</div><div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;    dynamic_obstacles_.collide(col_entity, &amp;self_data_dyn_obstacles,</div><div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;                               defaultCollisionFunction&lt;FCL_PRECISION&gt;);</div><div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;    result = self_data_dyn_obstacles.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#aba9199b3277116f3d66f4e71131a19a4">result</a>.isCollision();</div><div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;  }</div><div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;  <span class="keywordflow">return</span> result;</div><div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;}</div><div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;</div><div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div><div class="line"><a name="l00614"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a8bbce00ec170f5aa3bcbc66bed84a5c5">  614</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a8bbce00ec170f5aa3bcbc66bed84a5c5">FCLCollisionChecker::collide_fcl_helper_static_obstaclesEx</a>(</div><div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;    T col_entity, <span class="keywordtype">bool</span> &amp;result, <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1f">CollisionRequestType</a> reqType,</div><div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data.html">CollisionRequestData</a> *reqData)<span class="keyword"> const </span>{</div><div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;</div><div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;  <span class="keywordflow">if</span> (reqType == CollisionRequestType::collisionRequestListOfObstacles) {</div><div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a118ace8a12ff598bb746b0ea07f31b88">setUpParentMap</a>();</div><div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;    result = <span class="keyword">false</span>;</div><div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;    <span class="keywordflow">if</span> (!reqData) {</div><div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;      <span class="keywordflow">throw</span>;</div><div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;    }</div><div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;    <span class="keywordflow">if</span> (!(static_cast&lt;CollisionRequestDataMultipleObstacles *&gt;(reqData)</div><div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;              -&gt;getMaxObstacles())) {</div><div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;      <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;    }</div><div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;    static_cast&lt;CollisionRequestDataMultipleObstacles *&gt;(reqData)</div><div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;        -&gt;setSubjectEntitySize(col_entity);</div><div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;    static_cast&lt;CollisionRequestDataMultipleObstacles *&gt;(reqData)</div><div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;        -&gt;setTargetMngrSize(static_obstacles_.size());</div><div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;    static_cast&lt;CollisionRequestDataMultipleObstacles *&gt;(reqData)</div><div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;        -&gt;setObstacleCallbackOrder();</div><div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;    <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html">CollisionDataListOfObstacles&lt;FCL_PRECISION&gt;</a> self_data_static_obstacles(</div><div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;        *(static_cast&lt;CollisionRequestDataMultipleObstacles *&gt;(reqData)));</div><div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;    fcl::CollisionRequest&lt;FCL_PRECISION&gt; collisionRequest(</div><div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;        1, <span class="keyword">false</span>, <a class="code" href="fcl__decl_8h.html#ac452cb3fe2aa89056f0a0cf62c73e1bf">FCL_SOLVER_TYPE</a>); <span class="comment">// Disable finding of contact points</span></div><div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    collisionRequest.enable_cost = <span class="keyword">false</span>;</div><div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;    self_data_static_obstacles.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html#aa72770203bd5bcdeffee53841a5f2bde">self_reqData</a>;</div><div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;    self_data_static_obstacles.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a3998dd02d15239f4e3b6efc166f6f91d">request</a> = collisionRequest;</div><div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;    static_obstacles_.collide(</div><div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;        col_entity, &amp;self_data_static_obstacles,</div><div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;        defaultCollisionFunctionListOfObstacles&lt;FCL_PRECISION&gt;);</div><div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;    result = self_data_static_obstacles.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_ex.html#a638544565ffaf6948023a783d34c93ae">get_result</a>();</div><div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;</div><div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;    <span class="keywordflow">return</span> self_data_static_obstacles.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html#aa72770203bd5bcdeffee53841a5f2bde">self_reqData</a>.getAllObstAdded();</div><div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;</div><div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;  } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (reqType == CollisionRequestType::collisionRequestBoolean) {</div><div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;    result = <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a217934a11ff2c3e0605d8ec614b33bc8">collide_fcl_helper_static_obstacles</a>(col_entity);</div><div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;    <span class="keywordflow">throw</span>;</div><div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;  }</div><div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;}</div><div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;</div><div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">class</span> T&gt;</div><div class="line"><a name="l00659"></a><span class="lineno"><a class="line" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a217934a11ff2c3e0605d8ec614b33bc8">  659</a></span>&#160;<span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a217934a11ff2c3e0605d8ec614b33bc8">FCLCollisionChecker::collide_fcl_helper_static_obstacles</a>(</div><div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;    T col_entity)<span class="keyword"> const </span>{</div><div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;  <span class="keywordtype">bool</span> result = <span class="keyword">false</span>;</div><div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;  <a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html">CollisionData&lt;FCL_PRECISION&gt;</a> self_data_static_obstacles;</div><div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;  fcl::CollisionRequest&lt;FCL_PRECISION&gt; collisionRequest(</div><div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;      1, <span class="keyword">false</span>, <a class="code" href="fcl__decl_8h.html#ac452cb3fe2aa89056f0a0cf62c73e1bf">FCL_SOLVER_TYPE</a>); <span class="comment">// Disable finding of contact points</span></div><div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;  collisionRequest.enable_cost = <span class="keyword">false</span>;</div><div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;  self_data_static_obstacles.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a3998dd02d15239f4e3b6efc166f6f91d">request</a> = collisionRequest;</div><div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;  static_obstacles_.collide(col_entity, &amp;self_data_static_obstacles,</div><div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;                            defaultCollisionFunction&lt;FCL_PRECISION&gt;);</div><div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;  result = self_data_static_obstacles.<a class="code" href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#aba9199b3277116f3d66f4e71131a19a4">result</a>.isCollision();</div><div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;  <span class="keywordflow">return</span> result;</div><div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;}</div><div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;</div><div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;<span class="keyword">template</span> <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a446ec1583c17706392b23fdfc1853fe8">FCLCollisionChecker::collide_fcl_helper_simulate_static_subject</a>(</div><div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;    <a class="code" href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt;FCL_PRECISION&gt;</a> *col_entity, <span class="keywordtype">int</span> &amp;time_of_collision,</div><div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;    CollisionRequestType reqType, <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data.html">CollisionRequestData</a> *reqData) <span class="keyword">const</span>;</div><div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;<span class="keyword">template</span> <span class="keywordtype">bool</span> <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a446ec1583c17706392b23fdfc1853fe8">FCLCollisionChecker::collide_fcl_helper_simulate_static_subject</a>(</div><div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;    fcl::BroadPhaseCollisionManager&lt;FCL_PRECISION&gt; *col_entity,</div><div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;    <span class="keywordtype">int</span> &amp;time_of_collision, CollisionRequestType reqType,</div><div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;    <a class="code" href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data.html">CollisionRequestData</a> *reqData) <span class="keyword">const</span>;</div><div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;</div><div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;} <span class="comment">// namespace solverFCL</span></div><div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;} <span class="comment">// namespace solvers</span></div><div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;} <span class="comment">// namespace collision</span></div><div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a06d04daf90ad23bbc52d215bf8cb574b"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a06d04daf90ad23bbc52d215bf8cb574b">collision::solvers::solverFCL::FCLCollisionChecker::register_dynamic_obstacle</a></div><div class="ttdeci">int register_dynamic_obstacle(const FCLCollisionObjectGroup *obj) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00168">fcl_collision_checker.cc:168</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a217934a11ff2c3e0605d8ec614b33bc8"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a217934a11ff2c3e0605d8ec614b33bc8">collision::solvers::solverFCL::FCLCollisionChecker::collide_fcl_helper_static_obstacles</a></div><div class="ttdeci">bool collide_fcl_helper_static_obstacles(T col_entity) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00659">fcl_collision_checker.cc:659</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html">collision::TimeVariantCollisionObject</a></div><div class="ttdoc">TimeVariantCollisionObject can contain a different CollisionObject or ShapeGroup at each time step.</div><div class="ttdef"><b>Definition:</b> <a href="time__variant__collision__object_8h_source.html#l00021">time_variant_collision_object.h:21</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles_html_aa72770203bd5bcdeffee53841a5f2bde"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html#aa72770203bd5bcdeffee53841a5f2bde">collision::solvers::solverFCL::CollisionDataListOfObstacles::self_reqData</a></div><div class="ttdeci">CollisionRequestDataMultipleObstacles &amp; self_reqData</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00198">fcl_collision_requests.h:198</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1afe0ebdf03950e943b4df600e63ad9900">collision::solvers::solverFCL::COLLISION_ENTITY_TYPE_FCL_OBJECT</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00017">fcl_entity_type.h:17</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a82fa9f19f853ece9b818085c437793c7">collision::solvers::solverFCL::COLLISION_ENTITY_TYPE_FCL_OBJECTGROUP</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00018">fcl_entity_type.h:18</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_window_query_html"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_window_query.html">collision::solvers::solverFCL::CollisionDataWindowQuery</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00204">fcl_collision_requests.h:204</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_a9939d20e6c617455ea42c35b1e2d8085"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a9939d20e6c617455ea42c35b1e2d8085">collision::solvers::solverFCL::FCLCollisionObjectGroup::getParentInterface</a></div><div class="ttdeci">const IFCLCollisionObjectGroup * getParentInterface(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8h_source.html#l00057">fcl_collision_object_group.h:57</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a620d2d96bfb91c7eb67d175fecc8096f"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a620d2d96bfb91c7eb67d175fecc8096f">collision::solvers::solverFCL::FCLCollisionChecker::setUpStaticObstaclesManager</a></div><div class="ttdeci">void setUpStaticObstaclesManager(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00123">fcl_collision_checker.cc:123</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_html_aba9199b3277116f3d66f4e71131a19a4"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#aba9199b3277116f3d66f4e71131a19a4">collision::solvers::solverFCL::CollisionData::result</a></div><div class="ttdeci">fcl::CollisionResult&lt; S &gt; result</div><div class="ttdoc">Collision result.</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00174">fcl_collision_requests.h:174</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group_html_af4b7eae4f1cacf9ef0eed1b5f3f6bdba"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group.html#af4b7eae4f1cacf9ef0eed1b5f3f6bdba">collision::solvers::solverFCL::IFCLCollisionObjectGroup::getCollisionObjects</a></div><div class="ttdeci">virtual int getCollisionObjects(std::vector&lt; fcl::CollisionObject&lt; FCL_PRECISION &gt; * &gt; &amp;) const =0</div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html_ae14bb4f90bffb5804b389f27300c1c4f"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html#ae14bb4f90bffb5804b389f27300c1c4f">collision::TimeVariantCollisionObject::time_end_idx</a></div><div class="ttdeci">int time_end_idx() const</div><div class="ttdef"><b>Definition:</b> <a href="time__variant__collision__object_8cc_source.html#l00046">time_variant_collision_object.cc:46</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html">collision::solvers::solverFCL::FCLCollisionObjectGroup</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8h_source.html#l00027">fcl_collision_object_group.h:27</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a45600abe57714dcc84d81b0128f32c87"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a45600abe57714dcc84d81b0128f32c87">collision::solvers::solverFCL::FCLCollisionChecker::m_cc</a></div><div class="ttdeci">ICollisionChecker &amp; m_cc</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8h_source.html#l00048">fcl_collision_checker.h:48</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1">collision::solvers::solverFCL::FCL_COLLISION_ENTITY_TYPE</a></div><div class="ttdeci">FCL_COLLISION_ENTITY_TYPE</div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00014">fcl_entity_type.h:14</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a5088bcb0c1f882a9bbba06b3f186e2e0"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a5088bcb0c1f882a9bbba06b3f186e2e0">collision::solvers::solverFCL::FCLCollisionChecker::collideHelper</a></div><div class="ttdeci">bool collideHelper(CollisionObjectConstPtr co, int *collision_time, std::vector&lt; CollisionObjectConstPtr &gt; *obstacles, int max_obstacles=-1, bool ungroup_shape_groups=false, bool ungroup_TV_obstacles=false) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00190">fcl_collision_checker.cc:190</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_solver_entity___f_c_l.html">collision::solvers::solverFCL::SolverEntity_FCL</a></div><div class="ttdef"><b>Definition:</b> <a href="solver__entity__fcl_8h_source.html#l00010">solver_entity_fcl.h:10</a></div></div>
<div class="ttc" id="classcollision_1_1_i_collision_checker_html_adb32ac2d6218930ac7a1cb6538b5a979"><div class="ttname"><a href="classcollision_1_1_i_collision_checker.html#adb32ac2d6218930ac7a1cb6538b5a979">collision::ICollisionChecker::numberOfObstacles</a></div><div class="ttdeci">virtual int numberOfObstacles() const =0</div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html">collision::solvers::solverFCL::FCLCollisionObject</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object_8h_source.html#l00027">fcl_collision_object.h:27</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_aed9981d09bd9d5871918a43fa46b387d"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aed9981d09bd9d5871918a43fa46b387d">collision::solvers::solverFCL::FCLCollisionChecker::invalidateStaticObstaclesManager</a></div><div class="ttdeci">void invalidateStaticObstaclesManager(void)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00119">fcl_collision_checker.cc:119</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_ab8f47f4ae8609204c03694d362dab780"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ab8f47f4ae8609204c03694d362dab780">collision::solvers::solverFCL::FCLCollisionChecker::set_up_dynamic_obstacles</a></div><div class="ttdeci">int set_up_dynamic_obstacles(int simulation_cur_time_idx_) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00130">fcl_collision_checker.cc:130</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_ae35b8d368c6529a86d073ab7d7c45f20"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ae35b8d368c6529a86d073ab7d7c45f20">collision::solvers::solverFCL::FCLCollisionChecker::windowQuery_helper</a></div><div class="ttdeci">void windowQuery_helper(const RectangleAABB &amp;aabb, ICollisionChecker &amp;ret) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00268">fcl_collision_checker.cc:268</a></div></div>
<div class="ttc" id="classfcl_1_1_collision_object_html"><div class="ttname"><a href="classfcl_1_1_collision_object.html">fcl::CollisionObject&lt; FCL_PRECISION &gt;</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a25052a90e2c8b9071d92a2be814ade7d"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a25052a90e2c8b9071d92a2be814ade7d">collision::solvers::solverFCL::FCLCollisionChecker::collide_fcl_helper_dynamic_obstaclesEx</a></div><div class="ttdeci">bool collide_fcl_helper_dynamic_obstaclesEx(T col_entity, int sim_cur_time_idx, bool &amp;result, CollisionRequestType reqType, CollisionRequestData *reqData) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00548">fcl_collision_checker.cc:548</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a8bbce00ec170f5aa3bcbc66bed84a5c5"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a8bbce00ec170f5aa3bcbc66bed84a5c5">collision::solvers::solverFCL::FCLCollisionChecker::collide_fcl_helper_static_obstaclesEx</a></div><div class="ttdeci">bool collide_fcl_helper_static_obstaclesEx(T col_entity, bool &amp;result, CollisionRequestType reqType, CollisionRequestData *reqData) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00614">fcl_collision_checker.cc:614</a></div></div>
<div class="ttc" id="classcollision_1_1_i_collision_checker_html_a0a840e101970529845077069aa0a33ba"><div class="ttname"><a href="classcollision_1_1_i_collision_checker.html#a0a840e101970529845077069aa0a33ba">collision::ICollisionChecker::addCollisionObject</a></div><div class="ttdeci">virtual void addCollisionObject(CollisionObjectConstPtr co)=0</div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00035">fcl_collision_requests.h:35</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html_ae0db5a464e1ce21aa1131955e1bebc8e"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html#ae0db5a464e1ce21aa1131955e1bebc8e">collision::TimeVariantCollisionObject::time_start_idx</a></div><div class="ttdeci">int time_start_idx() const</div><div class="ttdef"><b>Definition:</b> <a href="time__variant__collision__object_8cc_source.html#l00042">time_variant_collision_object.cc:42</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a5f3a7a51c36c0772876379ff2cf778af"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a5f3a7a51c36c0772876379ff2cf778af">collision::solvers::solverFCL::FCLCollisionChecker::collide_fcl_helper_sim_TV_subject</a></div><div class="ttdeci">bool collide_fcl_helper_sim_TV_subject(const TimeVariantCollisionObject &amp;tvobj, int &amp;time_of_collision, CollisionRequestType reqType, CollisionRequestData *reqData) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00394">fcl_collision_checker.cc:394</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a7031ed219463c7ce45f6dcb1652f9a4c"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a7031ed219463c7ce45f6dcb1652f9a4c">collision::solvers::solverFCL::FCLCollisionChecker::FCLCollisionChecker</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW FCLCollisionChecker(ICollisionChecker &amp;cc)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00015">fcl_collision_checker.cc:15</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a12658171ee505d64dc3be58e0cfa6108"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a12658171ee505d64dc3be58e0cfa6108">collision::solvers::solverFCL::FCLCollisionChecker::collide_fcl_helper_dynamic_obstacles</a></div><div class="ttdeci">bool collide_fcl_helper_dynamic_obstacles(T col_entity, int sim_cur_time_idx) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00597">fcl_collision_checker.cc:597</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_i_f_c_l_collision_object_group.html">collision::solvers::solverFCL::IFCLCollisionObjectGroup</a></div><div class="ttdef"><b>Definition:</b> <a href="i__fcl__collision__object__group_8h_source.html#l00012">i_fcl_collision_object_group.h:12</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_ex_html_a638544565ffaf6948023a783d34c93ae"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_ex.html#a638544565ffaf6948023a783d34c93ae">collision::solvers::solverFCL::CollisionDataEx::get_result</a></div><div class="ttdeci">bool get_result(void)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00183">fcl_collision_requests.h:183</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_aa677f101d44d78cddb730bd10b94fbab"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#aa677f101d44d78cddb730bd10b94fbab">collision::solvers::solverFCL::FCLCollisionChecker::addCollisionObject_fcl</a></div><div class="ttdeci">int addCollisionObject_fcl(const FCLCollisionObject *co)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00089">fcl_collision_checker.cc:89</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a118ace8a12ff598bb746b0ea07f31b88"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a118ace8a12ff598bb746b0ea07f31b88">collision::solvers::solverFCL::FCLCollisionChecker::setUpParentMap</a></div><div class="ttdeci">void setUpParentMap(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00027">fcl_collision_checker.cc:27</a></div></div>
<div class="ttc" id="namespacecollision_html_a405f2c04407997fea529aad88f04ad30"><div class="ttname"><a href="namespacecollision.html#a405f2c04407997fea529aad88f04ad30">collision::CollisionObjectConstPtr</a></div><div class="ttdeci">std::shared_ptr&lt; const CollisionObject &gt; CollisionObjectConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00041">collision_object.h:41</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles_html"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_list_of_obstacles.html">collision::solvers::solverFCL::CollisionDataListOfObstacles</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00197">fcl_collision_requests.h:197</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_ab54054c0932ec90631ea307be67c38fc"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#ab54054c0932ec90631ea307be67c38fc">collision::solvers::solverFCL::get_fcl_object_ptr</a></div><div class="ttdeci">const FCLCollisionObject * get_fcl_object_ptr(const CollisionObject *obj)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__helpers_8h_source.html#l00046">fcl_helpers.h:46</a></div></div>
<div class="ttc" id="classcollision_1_1_i_collision_checker_html_a137cfb52d18f6218178ee50e114c3575"><div class="ttname"><a href="classcollision_1_1_i_collision_checker.html#a137cfb52d18f6218178ee50e114c3575">collision::ICollisionChecker::getObstacles</a></div><div class="ttdeci">virtual std::vector&lt; CollisionObjectConstPtr &gt; getObstacles() const =0</div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a40d1b64cd06786b2c828e995937cddae"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a40d1b64cd06786b2c828e995937cddae">collision::solvers::solverFCL::FCLCollisionChecker::addCollisionObject</a></div><div class="ttdeci">void addCollisionObject(CollisionObjectConstPtr co)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00039">fcl_collision_checker.cc:39</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_ad1077e89cdc78888b6effdc61bfdca1f"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#ad1077e89cdc78888b6effdc61bfdca1f">collision::solvers::solverFCL::FCLCollisionChecker::CollisionRequestType</a></div><div class="ttdeci">CollisionRequestType</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8h_source.html#l00050">fcl_collision_checker.h:50</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a446ec1583c17706392b23fdfc1853fe8"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a446ec1583c17706392b23fdfc1853fe8">collision::solvers::solverFCL::FCLCollisionChecker::collide_fcl_helper_simulate_static_subject</a></div><div class="ttdeci">bool collide_fcl_helper_simulate_static_subject(T col_entity, int &amp;time_of_collision, CollisionRequestType reqType=collisionRequestBoolean, CollisionRequestData *reqData=0) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00506">fcl_collision_checker.cc:506</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_a976460fe4920622d95f89d477c8f4ad8"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#a976460fe4920622d95f89d477c8f4ad8">collision::solvers::solverFCL::get_object_fcl_entity_type</a></div><div class="ttdeci">FCL_COLLISION_ENTITY_TYPE get_object_fcl_entity_type(const CollisionObject *obj2)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__helpers_8h_source.html#l00014">fcl_helpers.h:14</a></div></div>
<div class="ttc" id="time__variant__collision__object_8h_html"><div class="ttname"><a href="time__variant__collision__object_8h.html">time_variant_collision_object.h</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_html_acdbdfc3018beb1aad01b4d8820d9ac59"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object.html#acdbdfc3018beb1aad01b4d8820d9ac59">collision::solvers::solverFCL::FCLCollisionObject::getCollisionObject_fcl</a></div><div class="ttdeci">std::shared_ptr&lt; fcl::CollisionObject&lt; FCL_PRECISION &gt; &gt; getCollisionObject_fcl(void) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object_8cc_source.html#l00132">fcl_collision_object.cc:132</a></div></div>
<div class="ttc" id="namespacecollision_1_1solvers_1_1solver_f_c_l_html_aa90569f714d7d5ce0cbeb73fb19775e1a060426b2a428f4a72e0c2932396c6525"><div class="ttname"><a href="namespacecollision_1_1solvers_1_1solver_f_c_l.html#aa90569f714d7d5ce0cbeb73fb19775e1a060426b2a428f4a72e0c2932396c6525">collision::solvers::solverFCL::FCL_COLLISION_ENTITY_TYPE_TVOBJECT</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__entity__type_8h_source.html#l00019">fcl_entity_type.h:19</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_html_a3998dd02d15239f4e3b6efc166f6f91d"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html#a3998dd02d15239f4e3b6efc166f6f91d">collision::solvers::solverFCL::CollisionData::request</a></div><div class="ttdeci">fcl::CollisionRequest&lt; S &gt; request</div><div class="ttdoc">Collision request.</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00171">fcl_collision_requests.h:171</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_window_query.html">collision::solvers::solverFCL::CollisionRequestDataWindowQuery</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00102">fcl_collision_requests.h:102</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_html"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data.html">collision::solvers::solverFCL::CollisionRequestData</a></div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00033">fcl_collision_requests.h:33</a></div></div>
<div class="ttc" id="fcl__decl_8h_html_ac452cb3fe2aa89056f0a0cf62c73e1bf"><div class="ttname"><a href="fcl__decl_8h.html#ac452cb3fe2aa89056f0a0cf62c73e1bf">FCL_SOLVER_TYPE</a></div><div class="ttdeci">#define FCL_SOLVER_TYPE</div><div class="ttdef"><b>Definition:</b> <a href="fcl__decl_8h_source.html#l00018">fcl_decl.h:18</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_abe827612e28013062172e3859cd88dac"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#abe827612e28013062172e3859cd88dac">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::setUngroupShapeGroups</a></div><div class="ttdeci">void setUngroupShapeGroups(bool val)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00076">fcl_collision_requests.h:76</a></div></div>
<div class="ttc" id="classcollision_1_1_rectangle_a_a_b_b_html"><div class="ttname"><a href="classcollision_1_1_rectangle_a_a_b_b.html">collision::RectangleAABB</a></div><div class="ttdoc">Axis-aligned rectangle.</div><div class="ttdef"><b>Definition:</b> <a href="rectangle__aabb_8h_source.html#l00018">rectangle_aabb.h:18</a></div></div>
<div class="ttc" id="classcollision_1_1_i_collision_checker_html"><div class="ttname"><a href="classcollision_1_1_i_collision_checker.html">collision::ICollisionChecker</a></div><div class="ttdoc">External interface to a CollisionChecker (with or without an acceleration structure)</div><div class="ttdef"><b>Definition:</b> <a href="i__collision__checker_8h_source.html#l00022">i_collision_checker.h:22</a></div></div>
<div class="ttc" id="fcl__collision__checker_8h_html"><div class="ttname"><a href="fcl__collision__checker_8h.html">fcl_collision_checker.h</a></div></div>
<div class="ttc" id="classcollision_1_1_time_variant_collision_object_html_a2262622fbdf0596e4faba5fe344f2358"><div class="ttname"><a href="classcollision_1_1_time_variant_collision_object.html#a2262622fbdf0596e4faba5fe344f2358">collision::TimeVariantCollisionObject::getObstacleAtTime</a></div><div class="ttdeci">CollisionObjectConstPtr getObstacleAtTime(int time_idx) const</div><div class="ttdef"><b>Definition:</b> <a href="time__variant__collision__object_8cc_source.html#l00036">time_variant_collision_object.cc:36</a></div></div>
<div class="ttc" id="fcl__helpers_8h_html"><div class="ttname"><a href="fcl__helpers_8h.html">fcl_helpers.h</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles_html_a57cb09c6843bfa73c08e971beb8e4997"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_request_data_multiple_obstacles.html#a57cb09c6843bfa73c08e971beb8e4997">collision::solvers::solverFCL::CollisionRequestDataMultipleObstacles::setUngroupTvObstacles</a></div><div class="ttdeci">void setUngroupTvObstacles(bool val)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00077">fcl_collision_requests.h:77</a></div></div>
<div class="ttc" id="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data_html"><div class="ttname"><a href="structcollision_1_1solvers_1_1solver_f_c_l_1_1_collision_data.html">collision::solvers::solverFCL::CollisionData</a></div><div class="ttdoc">Collision data stores the collision request and the result given by collision algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__requests_8h_source.html#l00167">fcl_collision_requests.h:167</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group_html_a68852c711d2671871f96f087fb36e57c"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_object_group.html#a68852c711d2671871f96f087fb36e57c">collision::solvers::solverFCL::FCLCollisionObjectGroup::getManager_fcl</a></div><div class="ttdeci">int getManager_fcl(fcl::BroadPhaseCollisionManager&lt; FCL_PRECISION &gt; *&amp;) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__object__group_8cc_source.html#l00119">fcl_collision_object_group.cc:119</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a6ca16d35a48be5abcb1fb17f866e8c22"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a6ca16d35a48be5abcb1fb17f866e8c22">collision::solvers::solverFCL::FCLCollisionChecker::collide_fcl</a></div><div class="ttdeci">bool collide_fcl(const FCLCollisionObject *col_obj_ptr, int &amp;time_of_collision, CollisionRequestDataMultipleObstacles &amp;reqData) const</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00314">fcl_collision_checker.cc:314</a></div></div>
<div class="ttc" id="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker_html_a05728517e6bead9a3cf3ca65df2e6870"><div class="ttname"><a href="classcollision_1_1solvers_1_1solver_f_c_l_1_1_f_c_l_collision_checker.html#a05728517e6bead9a3cf3ca65df2e6870">collision::solvers::solverFCL::FCLCollisionChecker::invalidateParentMap</a></div><div class="ttdeci">void invalidateParentMap(void)</div><div class="ttdef"><b>Definition:</b> <a href="fcl__collision__checker_8cc_source.html#l00023">fcl_collision_checker.cc:23</a></div></div>
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